praça xv is easily reachable via taxi in 15 minutes, or via several buses routing along copacabana and ipanema, including bus 354 - the metrô station estação carioca is about a 10 minute-walk away from praça xv.

on this page by grupo ccr it is possible to check the schedule of boats going to praia de charitas by clicking on linhas, horários e tarifas on the top of the page.

to check the return schedule, clicking on 'charitas' on the map, and selecting 'rio de janeiro' in the submenu, opens the schedule, where the ferry fares are also listed.